CN109463129A - A kind of picking mechanical arm - Google Patents
A kind of picking mechanical arm Download PDFInfo
- Publication number
- CN109463129A CN109463129A CN201811641685.2A CN201811641685A CN109463129A CN 109463129 A CN109463129 A CN 109463129A CN 201811641685 A CN201811641685 A CN 201811641685A CN 109463129 A CN109463129 A CN 109463129A
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- China
- Prior art keywords
- picking
- fruit
- connect
- rack
- linking arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 88
- 230000008602 contraction Effects 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention provides a kind of picking mechanical arms, are related to plant field.Picking mechanical arm includes rack, linking arm, picking component, and linking arm connects rack and picking component, and rack can drive at picking component movement to fruit tree, and linking arm can drive at picking component movement to fruit, and picking component from fruit tree for taking fruit.In the present invention, one end of linking arm is connect with rack, and the other end is connect with picking component, and linking arm is scalable, is driven at picking component movement to fruit, and picking component takes fruit from fruit tree.In the present invention, picking component can replace manually picking fruit from fruit tree under the drive of linking arm, improve the efficiency of fruit picking.
Description
Technical field
The present invention relates to plant fields, in particular to a kind of picking mechanical arm.
Background technique
With the development in market, the demand of fruit is constantly rising, so that fruit large-scale planting is promoted, so
And fruit picking technology remains unchanged and rests on the stage of picked by hand, the effect of fruit picking greatly reduces in such Softening
Rate, while can not meet market is demand.
Summary of the invention
The purpose of the present invention is to provide a kind of picking mechanical arms, can be improved the picking efficiency of fruit.
The present invention provides a kind of technical solution:
A kind of picking mechanical arm, the fruit for picking on fruit tree include: rack, linking arm, picking component, the connection
Arm connects the rack and the picking component, and the rack can drive at the picking component movement to the fruit tree, described
Linking arm can drive at the picking component movement to the fruit, and the picking component is used for the fruit from the fruit tree
On take.
Further, in preferred embodiments of the present invention, the picking component includes picking part and collecting means, described to adopt
It plucks part and the collecting means is connect with the linking arm, for picking the fruit, the collecting means are used for the picking part
The fruit is accepted when the fruit is separated with the fruit tree.
Further, in preferred embodiments of the present invention, the picking part includes cut part, driving portion and connection frame,
The connection frame is connect with the linking arm, and the driving portion is mounted on the connection frame, the cut part and the driving
Portion's connection, the driving portion drive the cut part to shear the fruit.
Further, in preferred embodiments of the present invention, the cut part includes two articulated sections, and two described hinged
Portion is hinged, and connect with the driving portion, and two articulated sections are transported under the drive of the driving portion to the direction close to other side
It is dynamic, to shear the fruit.
Further, in preferred embodiments of the present invention, the articulated section includes rotation section and suits portion, the driving
Portion is connect by the rotation section with the portion of suiting, and it is hinged to suit portion described in two articulated sections.
Further, in preferred embodiments of the present invention, the collecting means include storage box and accepting rack, the storage
Frame is connect with the linking arm, and the storage box is mounted on the accepting rack, and the linking arm can be such that the storage box is located at
The lower section of the picking part.
Further, in preferred embodiments of the present invention, the linking arm is two, and two linking arms are and institute
Rack connection is stated, one of them one end of the linking arm far from the rack is connect with the picking part, another described company
The one end of arm far from the rack is connect to connect with the collecting means.
Further, in preferred embodiments of the present invention, the linking arm includes multiple pars contractilis, multiple described flexible
Portion is sequentially connected, and outermost two pars contractilis, one of them connect with the rack, another with the picking part or
The connection of collecting means described in person.
Further, in preferred embodiments of the present invention, the rack includes lifting assembly and walking component, the liter
Part of coming down to a lower group is mounted on the walking component, and the lifting assembly is connect far from described walking component one end with the linking arm.
Further, in preferred embodiments of the present invention, the lifting assembly includes lifting platform, contraction flow region and lifting air
Cylinder, described contraction flow region one end are connect with the walking component, and the other end is connect with the lifting platform, the lifting cylinder with it is described
Lifting platform connection, the lifting cylinder can drive the lifting platform to move to the direction close to or far from the walking component.
The beneficial effect of picking mechanical arm provided by the invention is: picking mechanical arm includes rack, linking arm, picking group
Part, linking arm connect rack and picking component, and rack can drive at picking component movement to fruit tree, and linking arm can drive picking group
Part moves at fruit, and picking component from fruit tree for taking fruit.
In the present invention, one end of linking arm is connect with rack, and the other end is connect with picking component, and linking arm is scalable,
It drives at picking component movement to fruit, picking component takes fruit from fruit tree.In the present invention, picking component is connecting
It can replace manually picking fruit from fruit tree under the drive of arm, improve the efficiency of fruit picking.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram of picking mechanical arm provided in an embodiment of the present invention.
Fig. 2 is the structural schematic diagram of the picking part of the picking component of picking mechanical arm provided in an embodiment of the present invention.
Fig. 3 is the structural representation of the cut part of the picking part of the picking component of picking mechanical arm provided in an embodiment of the present invention
Figure.
Fig. 4 is the structural schematic diagram of the collecting means of the picking component of picking mechanical arm provided in an embodiment of the present invention.
Fig. 5 is the structural representation of the picking part of the pars contractilis of the linking arm of picking mechanical arm provided in an embodiment of the present invention
Figure.
Fig. 6 is the structural schematic diagram of the picking part of the rack of picking mechanical arm provided in an embodiment of the present invention.
Icon: 10- picking mechanical arm；100- picks component；110- picks part；The cut part 112-；The articulated section 1122-；
The rotation section 1124-；1126- suits portion；1127- first segment；1128- second segment；1129- third section；114- driving portion；116- connects
Connect frame；120- collecting means；122- storage box；124- accepting rack；200- linking arm；210- pars contractilis；212- telescopic cylinder；214-
Folding part；300- rack；310- lifting assembly；312- lifting platform；314- contraction flow region；316- lifting cylinder；320- walking component.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it is to be understood that, term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put or those skilled in the art orientation or position that usually understand
Relationship is set, is merely for convenience of description of the present invention and simplification of the description, rather than the equipment of indication or suggestion meaning or element are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply
Relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Embodiment
Referring to Fig. 1, a kind of picking mechanical arm 10 is present embodiments provided, 10 energy of picking mechanical arm provided in this embodiment
Enough improve picking efficiency.
Picking mechanical arm 10 provided in this embodiment is used to pick the fruit on fruit tree, the larger fruit of the limb being mainly used for
Tree, fruit can be lichee, orange, apple etc..
In the present embodiment, picking mechanical arm 10 includes rack 300, linking arm 200, picking component 100, linking arm 200
Rack 300 and picking component 100 are connected, rack 300 can drive picking component 100 to move at fruit tree, and linking arm 200 can drive
Picking component 100 moves at fruit, and picking component 100 from fruit tree for taking fruit.
In the present embodiment, one end of linking arm 200 is connect with rack 300, and the other end is connect with picking component 100, even
It is scalable to connect arm 200, picking component 100 is driven to move at fruit, picking component 100 takes fruit from fruit tree.At this
In embodiment, picking component 100 can replace manually picking fruit from fruit tree under the drive of linking arm 200, mention
The high efficiency of fruit picking.
In the present embodiment, picking component 100 includes picking part 110 and collecting means 120, picks part 110 and collecting means 120
It is connect with linking arm 200, picking part 110 is used for fruit-picking, and collecting means 120 are for accepting water when fruit is separated with fruit tree
Fruit.
In the present embodiment, collecting means 120 are placed on the underface of picking part 110 by linking arm 200, when picking part 110
After part fruit is sheared off from fruit tree, it can fall directly into collecting means 120, prevent fruit from directly dropping to place from fruit tree,
Fruit is damaged, to improve the yield rate of fruit.
Referring to Fig. 2, in the present embodiment, picking part 110 includes cut part 112, driving portion 114 and connection frame 116, connect
It connects frame 116 to connect with linking arm 200, driving portion 114 is mounted on connection frame 116, and cut part 112 is connect with driving portion 114, is driven
Dynamic portion 114 drives cut part 112 to shear fruit.
In the present embodiment, after picking part 110 moves at fruit under the drive of linking arm 200, driving portion 114 is driven
The dynamic movement of cut part 112 cuts fruit from fruit tree.
Referring to Fig. 3, in the present embodiment, cut part 112 includes two articulated sections 1122, two articulated sections 1122 are cut with scissors
It connecing, and is connect with driving portion 114, two articulated sections 1122 move under the drive of driving portion 114 to the direction close to other side,
To shear fruit.
In the present embodiment, after two articulated sections 1122 are hinged, to the direction close to other side under the drive of driving portion 114
Upper movement forms shear stress, so that fruit be sheared off from fruit tree.
In the present embodiment, articulated section 1122 includes rotation section 1124 and suits portion 1126, and driving portion 114 passes through rotation section
1124 connect with the portion that suits 1126, two articulated sections 1122 to suit portion 1126 hinged.
In the present embodiment, rotation section 1124 is gear, and the rotation section 1124 of two articulated sections 1122 is intermeshed, is driving
Under the driving in dynamic portion 114, two articulated sections 1122 is driven to move upwards to the side close to other side.
It should be noted that in the present embodiment, rotation section 1124 is gear, and but not limited to this, in its of the invention
In his embodiment, rotation section 1124 can also be other structures, and the scheme being equal with the present embodiment can reach the present embodiment
Effect, it is within the scope of the invention.
In the present embodiment, suiting portion 1126 includes first segment 1127, second segment 1128 and third section 1129, first segment
1127, second segment 1128 and third section 1129 are successively rotatablely connected, the first segment 1127 and second segment of two articulated sections 1122
1128 junction is hinged.The one end of third section 1129 far from second segment 1128 is connect with rotation section 1124, first segment
1127 shearing fruit.
Referring to Fig. 4, in the present embodiment, collecting means 120 include storage box 122 and accepting rack 124, accepting rack 124 with
Linking arm 200 connects, and storage box 122 is mounted on accepting rack 124, and linking arm 200 can make storage box 122 be located at picking part 110
Lower section.
In the present embodiment, linking arm 200 is two, and two linking arms 200 are connect with rack 300, one of to connect
It connects the one end of arm 200 far from rack 300 to connect with picking part 110, another linking arm 200 one end and receipts far from rack 300
Collect part 120 to connect.
In the present embodiment, two linking arms 200 adjust collecting means 120 respectively and pick the position of part 110, with picking part
The linking arm 200 of 110 connections will pick part 110 and drive to fruit, the 200 amount collecting means of linking arm connecting with collecting means 120
120 take the underface of picking part 110 to, and fruit is enable to fall into collecting means 120.
Referring to Fig. 5, in the present embodiment, linking arm 200 includes multiple pars contractilis 210, multiple pars contractilis 210 successively connect
It connects, outermost two pars contractilis 210, one of them connect with rack 300, another and picking part 110 or collecting means 120
Connection.
In the present embodiment, pars contractilis 210 includes telescopic cylinder 212 and folding part 214, telescopic cylinder 212 and folding part
Folding part 214 is unfolded in 214 both ends connection, the elongation of telescopic cylinder 212, and the shortening of telescopic cylinder 212 folds folding part 214.
In the present embodiment, the folding part 214 of multiple pars contractilis 210 is sequentially connected.
Referring to Fig. 6, in the present embodiment, rack 300 includes lifting assembly 310 and walking component 320, lifting assembly
310 are mounted on walking component 320, and lifting assembly 310 is connect far from walking 320 one end of component with linking arm 200.
In the present embodiment, lifting assembly 310 includes lifting platform 312, contraction flow region 314 and lifting cylinder 316, contraction flow region
314 one end are connect with walking component 320, and the other end is connect with lifting platform 312, and lifting cylinder 316 is connect with lifting platform 312, are risen
Sending down abnormally ascending cylinder 316 can drive lifting platform 312 to move to the direction close to or far from walking component 320.
In conclusion picking mechanical arm 10 provided in this embodiment, in the present embodiment, one end of linking arm 200 and machine
Frame 300 connects, and the other end is connect with picking component 100, and linking arm 200 is scalable, and picking component 100 is driven to move to fruit
Place, picking component 100 take fruit from fruit tree.In the present embodiment, picking component 100 is under the drive of linking arm 200
It can replace manually picking fruit from fruit tree, improve the efficiency of fruit picking.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of picking mechanical arm, for picking the fruit on fruit tree characterized by comprising rack, linking arm, picking group
Part, the linking arm connect the rack and the picking component, and the rack can drive the picking component movement to described
At fruit tree, the linking arm can be driven at the picking component movement to the fruit, and the picking component is used for the water
Fruit is taken from the fruit tree.
2. picking mechanical arm according to claim 1, which is characterized in that the picking component includes picking part and collection
Part, the picking part and the collecting means are connect with the linking arm, and the picking part is for picking the fruit, the receipts
Collection part is for accepting the fruit when the fruit is separated with the fruit tree.
3. picking mechanical arm according to claim 2, which is characterized in that the picking part include cut part, driving portion and
Connection frame, the connection frame are connect with the linking arm, and the driving portion is mounted on the connection frame, the cut part and institute
Driving portion connection is stated, the driving portion drives the cut part to shear the fruit.
4. picking mechanical arm according to claim 3, which is characterized in that the cut part include two articulated sections, two
The articulated section is hinged, and connect with the driving portion, and two articulated sections are under the drive of the driving portion to close to other side
Direction movement, to shear the fruit.
5. picking mechanical arm according to claim 4, which is characterized in that the articulated section includes rotation section and suits portion,
The driving portion is connect by the rotation section with the portion of suiting, and it is hinged to suit portion described in two articulated sections.
6. picking mechanical arm according to claim 2, which is characterized in that the collecting means include storage box and accepting rack,
The accepting rack is connect with the linking arm, and the storage box is mounted on the accepting rack, and the linking arm can make the receipts
Case is located at the lower section of the picking part.
7. picking mechanical arm according to claim 2, which is characterized in that the linking arm is two, two connections
Arm is connect with the rack, one of them one end of the linking arm far from the rack is connect with the picking part, another
The one end of a linking arm far from the rack is connect with the collecting means.
8. picking mechanical arm according to claim 7, which is characterized in that the linking arm includes multiple pars contractilis, multiple
The pars contractilis is sequentially connected, and outermost two pars contractilis, one of them connect with the rack, another with it is described
Pick part or collecting means connection.
9. picking mechanical arm according to claim 1, which is characterized in that the rack includes lifting assembly and walking group
Part, the lifting assembly are mounted on the walking component, and the lifting assembly is far from described walking component one end and the company
Connect arm connection.
10. picking mechanical arm according to claim 9, which is characterized in that the lifting assembly includes lifting platform, contraction flow region
And lifting cylinder, described contraction flow region one end are connect with the walking component, the other end is connect with the lifting platform, the lifting air
Cylinder is connect with the lifting platform, and the lifting cylinder can drive the lifting platform to the direction close to or far from the walking component
Movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811641685.2A CN109463129A (en) | 2018-12-29 | 2018-12-29 | A kind of picking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811641685.2A CN109463129A (en) | 2018-12-29 | 2018-12-29 | A kind of picking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109463129A true CN109463129A (en) | 2019-03-15 |
Family
ID=65678262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811641685.2A Pending CN109463129A (en) | 2018-12-29 | 2018-12-29 | A kind of picking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109463129A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11910751B1 (en) * | 2023-03-17 | 2024-02-27 | King Saud University | Robotic system for harvesting and maintaining date palms |
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| CN207427851U (en) * | 2017-11-03 | 2018-06-01 | 山东农业大学 | A kind of lossless intelligence classification cropper of castatopsis fissa Table Grape |
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| CN108605507A (en) * | 2016-12-09 | 2018-10-02 | 代正臣 | A kind of cart-type electric device for picking fruit |
| CN109005923A (en) * | 2018-08-13 | 2018-12-18 | 上海电机学院 | A kind of full-automatic fruit picking device |
| CN109089547A (en) * | 2018-09-19 | 2018-12-28 | 南昌航空大学 | A kind of remote control type apple picking |
| CN209251123U (en) * | 2018-12-29 | 2019-08-16 | 贺州学院 | A kind of picking mechanical arm |
-
2018
- 2018-12-29 CN CN201811641685.2A patent/CN109463129A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102577748A (en) * | 2012-03-02 | 2012-07-18 | 绍兴文理学院 | Torreya grandis nut picker |
| CN103444359A (en) * | 2013-08-30 | 2013-12-18 | 华南农业大学 | Banana picking device and picking method |
| CN205694358U (en) * | 2016-05-10 | 2016-11-23 | 海南大学 | A kind of Fructus Ananadis comosi picking mechanical arm |
| CN106233938A (en) * | 2016-09-22 | 2016-12-21 | 天津职业技术师范大学 | The end effector of serial type fruit picking robot |
| CN108605507A (en) * | 2016-12-09 | 2018-10-02 | 代正臣 | A kind of cart-type electric device for picking fruit |
| CN207427851U (en) * | 2017-11-03 | 2018-06-01 | 山东农业大学 | A kind of lossless intelligence classification cropper of castatopsis fissa Table Grape |
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| CN109005923A (en) * | 2018-08-13 | 2018-12-18 | 上海电机学院 | A kind of full-automatic fruit picking device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11910751B1 (en) * | 2023-03-17 | 2024-02-27 | King Saud University | Robotic system for harvesting and maintaining date palms |
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